The effects of force reflection on servomanipulator task performance

Extensive data collection was performed on a servomanipulator system, the Sargent Industries' Central Research Laboratories Model M-2, in an effort to study the effects of force reflection on remote handling task performance. The results show the impacts of force reflection on both the environment and the operators in terms of overall forces incurred, errors committed, and the amount of time required to perform a typical task. The experiment incorporated a multi-axis force/torque measurement table as a primary data source, along with motor tachometers, accelerometers, and current taps.

This thesis reports preliminary results of the testing program. The results indicate that force reflection reduces operator errors and lessens the magnitude of forces applied during task completion. Further, it seems that force reflection can be counterproductive if it fatigues the operators. In this experiment, task completion times were longer and errors more frequent with 1:1 force reflection than with 4:1 force reflection. This supports the assumption that force reflection provides useful feedback information to the operator in remote handling and suggests the manner in which force reflection should be implemented in order to best protect both the hot cell equipment and the manipulator.